CN104334431B - Driving performance estimating device and driving assist system - Google Patents

Driving performance estimating device and driving assist system Download PDF

Info

Publication number
CN104334431B
CN104334431B CN201280073692.1A CN201280073692A CN104334431B CN 104334431 B CN104334431 B CN 104334431B CN 201280073692 A CN201280073692 A CN 201280073692A CN 104334431 B CN104334431 B CN 104334431B
Authority
CN
China
Prior art keywords
desired value
period
probability density
driver
relative
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201280073692.1A
Other languages
Chinese (zh)
Other versions
CN104334431A (en
Inventor
青木宏文
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp
Publication of CN104334431A publication Critical patent/CN104334431A/en
Application granted granted Critical
Publication of CN104334431B publication Critical patent/CN104334431B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W40/09—Driving style or behaviour
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/30—Driving style

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)

Abstract

A kind of driving performance estimating device, is provided with：Operation starts desired value calculating section (1a), and it calculates the desired value for operating beginning period corresponding with operation content of the driver of driving vehicle；With driving performance presumption unit (1b), the operation of its desired value based on relative to operation beginning period starts each probability density function of each state in period and operation starts the desired value in the operation beginning period that desired value calculating section (1a) is calculated, ratio of the probability density relative to aggregate value of each probability density function under the desired value that this calculates is obtained, each probability density is weighted relative to the ratio of aggregate value to estimate the driving performance of driver.

Description

Driving performance estimating device and driving assist system
Technical field
The present invention relates to the driving performance estimating device of the presumption for the driving performance for carrying out driver and progress and the driving The driving assist system of the corresponding drive supporting of characteristic.
Background technology
Conventionally, there is known carrying out the drive supporting system of drive supporting according to the driving performance for the driver for making vehicle traveling System.For example, in following patent documents 1, disclosing following technology：It is a kind of to send progress braking behaviour to the driver of this car Make in order to avoid the device for the alarm knocked into the back with the object such as front truck, this car of the braking driver based on to(for) the object is determined When, adjustment knock into the back alarm notification timing, send alarm of knocking into the back with object relative distance (alarm distance).The alarm This vehicle speed when distance is based on brake operating for the driver of object and relatively fast relative to this car with object Spend to be adjusted.
In addition, in following patent documents 2, disclosing following technology：Based between Ben Che and percept thing Actual relative distance calculates the technology for discovering relative distance between Ben Che and percept thing, based on Ben Che and percept thing Between actual relative velocity calculate the technology for discovering relative velocity between Ben Che and percept thing and calculate this and discover Relative distance and the ratio (discover and compare) for discovering relative velocity, vehicle is carried out in the case where this is discovered and compared more than threshold value The technology of control.The percept thing refers to that the driver during driving discovers the object recognized by itself.Discover phase Adjust the distance and refer to, the relative distance between the percept thing recognized with driver.Discover relative velocity to refer to, with driver Relative velocity between the percept thing recognized.In addition, in following patent documents 3, disclosing following technology：Savings The brake operating carried out by driver timing and steering operation when the relative distance of this car and front truck becomes preset distance are determined When resume and calculate respective average value, if with the relative velocity of front truck for below predetermined value, will be with brake operating timing The actual numerical value of related driver is compared with average value and sends alarm, if being more than with the relative velocity of front truck predetermined The actual numerical value of the driver related to steering operation timing, then be compared and send alarm by value with average value.
Prior art literature
Patent document
Patent document 1：Japanese Unexamined Patent Application 59-105587 publications
Patent document 2：Japanese Unexamined Patent Publication 2011-006038 publications
Patent document 3：Japanese Unexamined Patent Publication 2012-008696 publications
The content of the invention
Problems to be solved by the invention
In addition, in conventional driving assist system, according to the state of Ben Che and/or object, the surrounding enviroment of this car How, the notification timing for alarm of knocking into the back is possible to that the timing desired by driver can be deviateed.Also, thus, in the past, braking timing Early driver can feel to knock into the back issue evening of alarm, the driver in braking timing evening can feel to knock into the back alarm issue it is early.
Therefore, it is an object of the present invention to provide a kind of driving performance estimating device and driving assist system, can improve The driving performance that is improper and accurately estimating driver that the past case has.
The means used to solve the problem
In order to reach above-mentioned purpose, driving performance estimating device of the invention is characterised by, is provided with：Operation starts to refer to Scale value calculating section, the corresponding desired value for operating beginning period of its operation content for calculating the driver with driving vehicle；With drive Estimation portion is sailed, the operation of its desired value based on relative to the operation beginning period starts each state in period Each probability density function and the operation start the desired value that the operation that desired value calculating section calculates starts period, obtain this Ratio of the probability density relative to aggregate value of each probability density function under the desired value calculated, to each probability density Ratio relative to aggregate value is weighted and estimates the driving performance of driver.
In addition, in order to reach above-mentioned purpose, driving assist system of the invention is characterised by, is provided with：Operation starts Desired value calculating section, the corresponding desired value for operating beginning period of its operation content for calculating the driver with driving vehicle；Drive Estimation portion is sailed, the operation of its desired value based on relative to the operation beginning period starts each state in period Each probability density function and the operation start the desired value that the operation that desired value calculating section calculates starts period, obtain this Ratio of the probability density relative to aggregate value of each probability density function under the desired value calculated, to each probability density phase It is weighted for the ratio of aggregate value and estimates the driving performance of driver；And drive supporting control unit, it is carried out and presumption The corresponding drive supporting of the driving performance gone out.
Herein, it is preferable that be provided with probability density function calculating section, it will start many of period with the acquired operation The relative operation of individual desired value start the channel zapping in period by by driver realize it is multiple this operate period shape State makes a distinction, and the operation calculated respectively relative to the desired value in the operation beginning period by each channel zapping starts The probability density function of each state in period.
Additionally, it is preferred that, the brake operating that the operation beginning desired value calculating section calculates driver starts the index in period Value, the driving performance presumption unit, when the brake operating based on the desired value for starting period relative to the brake operating starts Each probability density function of each state of phase and the operation start the brake operating that desired value calculating section calculates and started The desired value in period, obtains the probability density of each probability density function under the desired value that this calculates relative to aggregate value Than the ratio to each probability density relative to aggregate value is weighted, the vehicle headway tendency with front truck of presumption driver It is used as driving performance.
Additionally, it is preferred that, the operation starts desired value calculating section and calculates grasp corresponding with multiple operation contents of driver Make the desired value in beginning period, the driving performance presumption unit presses each operation content, based on starting relative to the operation The operation of the desired value in period starts each probability density function of each state in period and the operation starts desired value calculation Go out the desired value that the operation that portion calculates starts period, obtain each probability density function under the desired value that this calculates Probability density is relative to the ratio of aggregate value, and the ratio to each probability density relative to aggregate value is weighted, presumption driver's It is used as driving performance with the vehicle headway tendency of front truck.
The effect of invention
The driving performance estimating device and driving assist system of the present invention, the driving that can accurately estimate driver is special Property, therefore, by implementing drive supporting corresponding with the driving performance, driver can also be complied with the drive supporting Driver behavior tendency and accurately implement.
Brief description of the drawings
Fig. 1 is the block diagram for the structure for representing the driving performance estimating device and driving assist system of the present invention.
Fig. 2 is that the desired value for starting period to brake operating calculates the figure that process is illustrated.
Fig. 3-1 is the channel zapping figure in the case that brake operating starts morning in period.
Fig. 3-2 is that to start period be the channel zapping figure in the case of common to brake operating.
Fig. 3-3 is the channel zapping figure in the case that brake operating starts evening in period.
Fig. 4 is that Fig. 3-1~Fig. 3-3 channel zapping is summed up into figure together.
Fig. 5 is the figure for the channel zapping that Fig. 4 is represented with the form of the probability density function of normal distribution.
Fig. 6 is the figure illustrated to each probability density for starting the desired value in period relative to some brake operating.
Fig. 7 is to be inclined to the figure illustrated to starting the vehicle headway of the desired value in period relative to some brake operating.
Fig. 8 is to estimate the flow chart illustrated to driving performance.
Fig. 9 is one of result of the test.
Figure 10 is one of result of the test.
Embodiment
Hereinafter, the driving performance estimating device of the present invention and the embodiment of driving assist system are entered in detail based on accompanying drawing Row explanation.In addition, limiting the present invention not by the embodiment.
[embodiment]
Based on Fig. 1~Figure 10, the embodiment of driving performance estimating device and driving assist system to the present invention is said It is bright.
Driving performance estimating device, the information of the transport condition based on vehicle and/or make vehicle travel driver behaviour Make information of state etc., estimate the driving performance of the driver.The transport condition of vehicle refers to, for example, state of giving it the gun, subtracting Fast transport condition, constant speed drive state, linear rows enter transport condition, turning driving state etc..The mode of operation of driver refers to, For example, braking operation state, acceleration mode of operation, steering (steering) mode of operation etc..The driving performance of driver refers to, The characteristic for the driving form being driven by the hobby of driver, the hobby of the vehicle headway with front truck of driver size (with Under, it is referred to as " vehicle headway tendency ") etc..In addition, driving assist system is that the driver of this car during driving is supported System.The driving assist system of the illustration has driving performance estimating device and drive supporting device, based on special by the driving The driving performance of the driver that property estimating device is deduced performs drive supporting.As drive supporting control, for example, there is front truck Control, track detachment alarm control (LDW are supported in follow running control, anticollision：Lane Departure Warning), track dimension Hold support control (LKA：Lane Keeping Assist), rock alarm (careless, sleepy alarm drive) control, bend Speed alarm control, the deceleration of bend speed are controlled, careless, the sleepy presumption of driver is controlled and driving is diagnosed etc..
In the illustration, following driving performance estimating device and driving assist system are illustrated：Based on braking behaviour The presumption of the vehicle headway tendency of driver is carried out as state, when with the diminution of the vehicle headway of front truck, by with the car Between distance be inclined to corresponding vehicle headway and give a warning, promote driver to carry out to grasp with the braking that front truck is collided Make.
In the driving assist system with the driving performance estimating device and drive supporting device, it is acted by entering driving The control of electronic-controlled installation (hereinafter referred to as " vehicle ECU ") 1 of control etc..As shown in figure 1, vehicle ECU1 is connected with：Car Speed detector 2, distance detection device 3, brake apparatus 4, brake operating detection means 5 and alarm device 6.
Vehicle speed detector device 2 is the vehicle speed sensor for detecting the vehicle velocity V s (m/s) of this car.Filled as the Bus- Speed Monitoring 2 are put, for example, using the rotation angle sensor of the anglecs of rotation of the output shaft of power transmission such as detection speed changer, detecting each car Wheel speed sensor of wheel speed of wheel etc..The detection signal of the vehicle speed detector device 2 is exported to vehicle ECU1.In vehicle In ECU1, the vehicle velocity V s of this car computing is carried out based on the detection signal.
Distance detection device 3 is actual relative between the object in the front of this car and this car (front truck) for detecting Distance (hereinafter referred to as " actual relative distance ") Dr (m) range sensor.As the distance detection device 3, millimeter wave is used Radar.The millimetre-wave radar is such as being installed on the central portion of front face of this car (in preceding grid).The millimetre-wave radar Millimeter wave is projected to the preset range in the front of this car, the millimeter that the object reflection in the front by being present in this car is obtained is received Ripple.The millimetre-wave radar measurement from its inject to receive untill time, calculate from this car (millimetre-wave radar configuration position) to Distance untill the object in front, thus detects actual relative distance Dr.In addition, the millimetre-wave radar can also detect this car Actual relative velocity (hereinafter referred to as " actual relative velocity ") Vr between the object (front truck) in front.In the millimeter In ripple radar, the speed of the speed (speed of front truck) of the vehicle velocity V s of this car and the object in front is calculated using Doppler effect Difference, thus detects actual relative velocity Vr.The millimetre-wave radar to vehicle ECU1 export the actual relative distance Dr that detects and Actual relative velocity Vr.
In addition, the distance detection device 3 can also use the radar of radar and/or infrared ray etc., CCD Camera devices such as (charge coupled device charge coupled cells) camera etc..For example, vehicle ECU1 in this case The image procossing of the image data in the front photographed by camera device is carried out, actual relative distance Dr is calculated.In addition, In the case that the distance detection device 3 is the device that can not directly detect actual relative velocity Vr, vehicle ECU1 is for example based on companion The actual relative distance Dr passed through with the time change calculates actual relative velocity Vr.
Brake apparatus 4 is the braking stampede operation by driver and produces the device of brake force in each wheel, is also root According to vehicle ECU1 instruction, the wheel of the control object in each wheel produces the device of brake force.The brake apparatus 4 possesses The actuator (actuator) that can be controlled by each wheel to the supply hydraulic pressure supplied to braking parts (caliper etc.).The cause Dynamic device also can directly export the corresponding master cylinder pressure of operational ton of the brake pedal with being realized by driver, also can be according to vehicle ECU1 instruction and make the master cylinder pressure increase and decrease after export.
Brake operating detection means 5 is to detect the device of the braking stampede operation of driver.For example, being used as the brake operating Detection means 5, the input switch (so-called parking light switch) of stop light using the braking stampede operation linkage with driver is Can.The parking light switch lights stop light and connects letter to vehicle ECU1 outputs along with the braking stampede operation of driver Number.Therefore, vehicle ECU1 can detect the braking stampede operation of driver according to the connection signal.In addition, being used as the braking Operate detection means 5, it is possible to use to operational ton (the stampede operation amount such as pedal aperture for the brake pedal realized by driver And/or pedal operation speed) sensor that is detected.
Alarm device 6 sends alarm by stimulating the sense of hearing and/or the vision of driver to driver.For example, being used as the police Reporting device 6, there is the flexible piezoelectric sound-generating devices for transmitting alarm to driver using sound.It is used as the sound of generation, it is considered to serge (beep) The various alarm songs such as sound, the acoustic information for reporting content etc..In addition, as the alarm device 6, having by being shown to monitor etc. The display of device transmits the device of alarm to driver.Be used as the display content, it is considered to flickering display and/or light display, Report text information of content etc..
The operation content that driving performance estimating device calculates the driver with driving vehicle corresponding operates beginning period Desired value.Also, when the operation of the driving performance estimating device based on the desired value for starting period relative to the operation starts Each probability density function of each state of phase and the desired value in the operation beginning period calculated, are obtained under the desired value that this is calculated Each probability density function ratio of the probability density relative to aggregate value, to each probability density relative to aggregate value ratio carry out Weight to estimate the driving performance of driver.Vehicle ECU1 is provided with：The operation for calculating the desired value that the operation starts period is opened Beginning desired value calculating section 1a and so the driving performance presumption unit 1b of the driving performance of presumption driver.
In the illustration, calculate at the beginning of the braking stampede operation in the brake operating of driver the phase (hereinafter also referred to as " brake operating starts period ") desired value.In addition, in the illustration, based on the finger for starting period relative to the brake operating Each probability density function that the brake operating of scale value starts each state (morning, evening etc.) in period is opened with the brake operating calculated The desired value in period beginning, obtains the probability density of each probability density function under the desired value that this calculates relative to aggregate value Than being weighted to estimate the driving performance of driver relative to the ratio of aggregate value to each probability density.
Operation starts desired value calculating section 1a based on following formulas 1 to calculate the desired value PRE that brake operating starts period (BRK)。
[number 1]
The denominator of the formula 1 be between the object (front truck) recognized with driver relative distance (discover it is relative away from From), it is the sensation (illusion) based on driver and the distance after being corrected to actual relative distance Dr.The driver of this car The vehicle velocity V s that this car can be produced is faster, then relative velocity gets over the illusion faster than actual relative velocity Vr.For example, this car in it is low Speed travels on the situation of Ordinary Rd and to run at high speed in the case of super expressway, when actual relative distance Dr is identical, The fast illusion of relative velocity during relative velocity ratio Ordinary Rd traveling when driver has a super expressway traveling.The opposing party Face, molecule is the relative velocity (discovering relative velocity) between the object (front truck) recognized with driver, is based on driving The sensation (illusion) of member and the speed after being corrected to actual relative velocity Vr.The driver of this car can produce actual relative It is more remote apart from Dr, then the relative distance more illusion nearer than actual relative distance Dr.For example, in observation on the direct of travel of this car During the electric pole equally spaced arranged, electric pole is located at a distance, then the interval of electric pole seems narrower, and driver has far The position of the electric pole at the place illusion nearer than actual position.That is, the formula 1 is that brake operating is started to the presumption in period Formula after model, is represented with discovering relative distance with the ratio of relative velocity is discovered.
As it was previously stated, " Vs ", " Vr " and " Dr " is the speed, actual relative velocity and actual relative distance of this car respectively. " Ax " is the actual relative acceleration (hereinafter referred to as " actual relative acceleration ") between Ben Che and front truck.This is actual relative Speed Vr and actual relative acceleration Ax Ben Che and front truck away from when for just.In addition, " α ", " β " and " n " is according to circumstances to determine Fixed parameter.For example, " α " be set in 0~1 in the range of (0<α<1)." β " be set in 0~3 in the range of (0<β<3)." n " is set (0 in the range of being scheduled on 0~1<n<1).
This car further away from front truck, then the brake operating start the desired value PRE (BRK) in period numerical value it is smaller.Namely Say, desired value PRE (BRK) is represented, the numerical value is smaller, then starts period more early state as brake operating.On the other hand, This car is closer to front truck, then desired value PRE (BRK) numerical value is bigger.That is, desired value PRE (BRK) is represented, should Numerical value is bigger, then starts period more late state as brake operating.
Driving performance presumption unit 1b starts the brake operating that desired value calculating section 1a calculates based on the operation and starts period Desired value PRE (BRK) and start desired value PRE (BRK) brake operating in period relative to brake operating and start period Each probability density function of each state, is estimated to having calculated desired value PRE (BRK) driving performance of driver.
Here, the brake operating of the desired value PRE (BRK) on starting period relative to the brake operating starts period Each state each probability density function, for example, parse the running data of multiple drivers under multiple driving modes, as Map and be prepared in advance.Each probability density function of each state can be with the traveling of driver to initial The mapping of login is updated.Therefore, being provided with calculating for each probability density function for carrying out each state in vehicle ECU1 And/or the probability density function calculating section 1c updated.When the probability density function calculating section 1c with acquired operation by starting The relative operation of multiple desired values of phase start period channel zapping operated by multiple this realized by driver when The state of phase is made a distinction, and the operation calculated respectively relative to the desired value in operation beginning period by each channel zapping is opened The probability density function of each state in period beginning.In the illustration, when the brake operating with acquired driver is started The relative brake operating of multiple desired value PRE (BRK) of phase starts multiple channel zappings in period by being realized by driver The state (morning, evening etc.) that multiple brake operatings start period makes a distinction, by each channel zapping calculate respectively relative to Brake operating start the desired value PRE (BRK) in period the brake operating start period each state probability density function.
Specifically, for example as shown in the figure in Fig. 2 left side, based on acquired running data, asked by running data Go out the average value that brake operating starts the desired value PRE (BRK) in period, the state for starting period by brake operating is average to each Value is classified.Here, being divided into brake operating starts the group of period early state, group, the group of the state in evening of common state This 3 groups.Refer in addition, brake operating starts the situation that period is common state, for example, made when by multiple drivers When the average value of the vehicle headway with front truck of dynamic stampede operation is as benchmark vehicle headway, start in the benchmark vehicle headway The state of braking stampede operation.Based on this, the situation that brake operating starts period early state refers to, with common state Situation is compared, and it is early that brake operating starts period, that is to say, that when the vehicle headway of Ben Che and front truck is bigger than benchmark vehicle headway The state of braking stampede operation is started.In addition, the situation that brake operating starts the state in evening in period refers to, with common state Situation compare, brake operating starts evening in period, that is to say, that smaller than benchmark vehicle headway in the vehicle headway of Ben Che and front truck When started brake stampede operation state.
Probability density function calculating section 1c is as shown in the figure on Fig. 2 right side by each group channel zapping figure.Fig. 3-1 ~Fig. 3-3 is the channel zapping figure of each group respectively.Fig. 4 is to sum up the channel zapping of each group to be indicated together Figure.In the Fig. 3-1~Fig. 4, transverse axis represents that brake operating starts the desired value PRE (BRK) in period, and the longitudinal axis represents to detect system The number of times of dynamic stampede operation.
Probability density function calculating section 1c starts the channel zapping (Fig. 4) point of each state in period according to the brake operating The probability density function of each state is not calculated.Specifically, calculated respectively by each channel zapping (normal distribution) It is close that the brake operating relative to the desired value PRE (BRK) that brake operating starts period starts each shape probability of state in period Spend function.That is, as shown in figure 5, the channel zapping (normal distribution) of each group is with the probability density function of normal distribution Form is represented.Storage device stores each probability density function as mapping.In Figure 5, transverse axis represents that brake operating is opened The desired value PRE (BRK) in period beginning, the longitudinal axis represents probability density.
In addition, the probability density function of normal distribution formula 2 described as follows." σ " represents the standard deviation of probability density function, “σ2" represent probability density function variance, " μ " represent probability density function average.
[number 2]
Here, in the illustration, the mapping of above-mentioned probability density function is stored in the storage device of vehicle, but this reflects Penetrate the storage devices such as the server that be may be stored in addition to in-car storage device outside car.In this case, preferably using Mobile phone and/or be equipped on vehicle communication equipment will it is in-car it is synchronous with the mapping of each storage device outside car be newest Mapping.The synchronization can be performed using the instruction of driver etc. as opportunity, can also be performed in the more new mappings with traveling. It is used as concrete example, it is possible to use cloud computing technology etc..For example, the information for the mapping that the storage device outside the car is stored both can be with The driver is only applicable to, can also be as the database of the driving performance statisticsization of various drivers to be utilized.Before In the case of person, it is not limited to make the vehicle of the mapping, even if the driver changes trains and/or hired a car because buying etc. and takes During other vehicles, the newest mapping of the driver is read by using storage device of the communication outside car, also can be at other Vehicle utilizes the information of the driving performance of the driver immediately.In addition, in the case of the latter, due to the driving for data base system Number and/or the driving mode increase of member, is originally logged in the precision of the information of the mapping of vehicle so can for example improve.
The driving performance presumption unit 1b brakings that desired value calculating section 1a is calculated since above-mentioned mapping reading and aforesaid operations The brake operating that the desired value PRE (BRK) in operation beginning period meets starts the number of the probability density function of each state in period Value.For example, Fig. 6 shows that brake operating when desired value PRE (BRK) is 0.2 starts numerical value a, b, c under each state in period. Numerical value a represents probability density when brake operating starts period early state.It is common that numerical value b, which represents that brake operating starts period, State when probability density.Numerical value a represents probability density when brake operating starts period early state.Numerical value b represents system Probability density when dynamic operation beginning period is common state.Numerical value c is represented when brake operating starts the state in evening in period Probability density.In the illustration of the Fig. 6, " a=1.21 ", " b=0.80 ", " 0.38 ".
Driving performance presumption unit 1b is based on each numerical value a, b, the c, calculates its aggregate value.The aggregate value is calculated index The probability of each probability density function (brake operating starts the probability density function under each state in period) under value PRE (BRK) Density a, b, c aggregate value.Driving performance presumption unit 1b obtain when brake operating starts period early state relative to probability Ratio (a/a+b+c), the brake operating of density a, b, c aggregate value start period for common state when relative to probability density When ratio (b/a+b+c), the brake operating of a, b, c aggregate value start period late state relative to probability density a, b, c The ratio (c/a+b+c) of aggregate value.Driving performance presumption unit 1b by this each than being weighted, the driving for estimating driver is special Property (vehicle headway tendency).
The desired value of driving performance after the weighting(B-on, PRE (BRK)) can be obtained using following formulas 3.In addition, " B-on, PRE (BRK) " in the parantheses is represented when brake operating starts and brake operating starts the desired value PRE in period (BRK) desired value of the driving performance (vehicle headway tendency) when for some numerical value (example as the aforementioned 0.2 etc.)
[number 3]
“p1”、“p2”、“p3" represent that weight coefficient, brake operating when brake operating starts period early state are opened respectively Weight coefficient when period beginning is common state, weight coefficient when brake operating starts the state in evening in period.These weightings Coefficient p1、p2、p3Both can be fixed value or according to the variable value of travel conditions.For example, in the traffic of congestion Under, compared with the traffic of not congestion, speed is low and vehicle headway with front truck reduces.Therefore, in the traffic of congestion Under, reduce weight (weight coefficient p when brake operating starts period early state1), on the other hand, increase brake operating starts Weight (weight coefficient p during the state in evening in period3).And under the traffic of not congestion, increase brake operating starts period Weight (weight coefficient p during the state of morning1), on the other hand, reduce weight when making the brake operating start the state in evening in period (weight coefficient p3).Identical with this, on Ordinary Rd, compared with super expressway, speed is low and vehicle headway with front truck Reduce.Therefore, on Ordinary Rd, weight (weight coefficient p when brake operating starts period early state is reduced1), it is another Aspect, increase brake operating starts weight (the weight coefficient p during state in evening in period3).And on super expressway, increase braking Operate weight (the weight coefficient p during state of morning in beginning period1), on the other hand, reduce the shape that brake operating starts evening in period Weight (weight coefficient p during state3)。
Driving performance presumption unit 1b is based on the desired valueTo estimate the driving performance (vehicle headway tendency) of driver.Should Desired valueWith the size of its numerical value correspondingly, driving performance (vehicle headway tendency) is shown with the step or infinitely.For example, In the illustration, vehicle headway length, the driving performance (vehicle headway in this common, short 3 stage for starting to brake stampede operation are set with Tendency).In the illustration, following vehicle headway tendency is shown：Trampled relative to braking is started in common vehicle headway Desired value during operationDesired valueIt is smaller, then start brake stampede operation vehicle headway more than it is common when following distance From length, brake operating start period more than it is common when it is early.In addition, in the illustration, showing following vehicle headway tendency： Relative to the desired valueDesired valueIt is bigger, then start brake stampede operation vehicle headway more than it is common when following distance From short, brake operating start period more than it is common when it is late.Fig. 7 is to illustrate each brake operating in Fig. 5 and Fig. 6 to start period Desired value PRE (BRK) desired valueOperation result.It can be seen from the Fig. 7, when desired value PRE (BRK) is 0.2, table Reveal following vehicle headway tendency：Start brake stampede operation vehicle headway than it is common when vehicle headway it is long, braking behaviour Make beginning period than it is common when it is early.In addition, understanding, when desired value PRE (BRK) is 0.7, following vehicle headway is shown Tendency：Start to brake the vehicle headway of stampede operation, that is brake operating starts period is common.
Here, the Fig. 7 can also replace desired valueOperation result and the operation result is replaced with and opened with brake operating Each state (early, common, evening) in period beginning or each state (long, common, short) corresponding 1 dimension of vehicle headway scalar (1, 2nd, 3 etc.).
Vehicle ECU1 is provided with the drive supporting control unit 1d for performing drive supporting control.The drive supporting control unit 1d bases Drive supporting control is carried out in the driving performance (vehicle headway tendency).For example, going out in the driver behavior in common system In the case that dynamic operation beginning period carries out brake operating this vehicle headway tendency, the drive supporting control unit 1d Ben Che with Front truck makes alarm device 6 work when being close to benchmark vehicle headway, arouse driver and note.In addition, going out in the driver behavior In the case where starting period this vehicle headway of progress brake operating tendency earlier than common brake operating, the drive supporting control Portion 1d processed makes alarm device 6 work before Ben Che reaches benchmark vehicle headway with front truck, arouses driver and notes.The situation Under, for example preferably, above-mentioned desired valueIt is smaller, then this car more than benchmark vehicle headway away from front truck in the state of make alarm Device 6 works.On the other hand, the driver behavior go out be later than common brake operating start period carry out brake operating this One vehicle headway be inclined in the case of, the drive supporting control unit 1d Ben Che and front truck vehicle headway than benchmark vehicle headway Alarm device 6 is worked in short-term, arouse driver and note.In this case, for example preferably, above-mentioned desired valueIt is bigger, then exist This car more makes alarm device 6 work than benchmark vehicle headway in the state of front truck.It is preferred, however, in this car close to front truck During to predetermined vehicle headway, in order to avoid knocking into the back, with desired valueSize it is unrelated and alarm device 6 is worked.
Here, drive supporting control unit 1d can also replace the alarm realized by the alarm device 6 or with the alarm one Rise and carry out following drive supporting：Acted brake apparatus 4 and produce brake force or increase auxiliary by driving in each wheel The brake force for each wheel that the brake operating of member is realized.
So, the driving performance estimating device and driving assist system of the present embodiment can be estimated accurately even in one The driving performance for the driver that can also change in secondary traveling by running environment and/or mood etc., therefore, it is possible to implement to drive with this Sail the consistent suitable drive supporting of characteristic.For example, in the driving performance estimating device and driving assist system, with driver Brake operating start the tendency in period and carry out the drive supportings such as alarm consistently with the vehicle headway tendency of front truck accordingly, Therefore, will not be brought alarm etc. to driver intervention early or late wait indisposed sense, because alarm etc. intervention relative to itself The unnecessary sense of the alarm that driving performance is relatively early and brings etc..That is, according to the driving performance estimating device and driving branch System is helped, even if the intervention period of alarm etc. is more early than common (when generally controlling), if there is the driver brake operating to start The vehicle headway tendency of morning phase, then the driver also will not feel indisposed sense to the intervention of the alarm etc..In addition, the drive supporting System uses vehicle velocity V s and/or actual relative vehicle velocity V r of this car etc. when estimating the driving performance of driver, it is contemplated that this car And/or the acceleration and deceleration of front truck, therefore, the rationalization in the intervention period of alarm etc. can be also sought in this.
In addition, formula 3 also can based on by formula 2 replace with brake operating start period each state following formula 4-6 and such as Following formula 7 is deployed like that.
[number 4]
[number 5]
[number 6]
[number 7]
" σ (a) ", " σ (b) ", " σ (c) " represent variance when brake operating starts period early state, brake operating respectively Variance when beginning period is common state, variance when brake operating starts the state in evening in period.“μ(a)”、“μ(b)”、 " μ (c) " is represented when average value, the brake operating when brake operating starts period early state start period for common state Average value, brake operating start the average value during state in evening in period.
In addition, in the present embodiment, exemplified with the feelings given a warning with the corresponding vehicle headway of vehicle headway tendency Condition, but driving assist system can also perform control of slowing down in vehicle headway corresponding with vehicle headway tendency.In addition, the driving Support system, which can also make to give a warning and slow down, to be controlled to perform together.Deceleration control refers to not carry out from driver The state of brake operating acts the control for making vehicle deceleration or vehicle is entered one from the state that driver has carried out brake operating Walk the control slowed down.
In addition, the desired value PRE (BRK) that brake operating starts period can be described as representing the driving performance of the driver Value.Therefore, drive supporting device can also for example start the desired value PRE (BRK) in period more than predetermined in the brake operating Threshold value and when becoming big, be judged as that brake operating starts evening in period and carries out drive supporting.
[variation]
The driving performance estimating device and driving assist system of foregoing embodiment, in order to estimate the driving performance of driver (vehicle headway tendency) and make use of the brake operating relative to front truck to start the tendency in period this parameter.This variation is driven Sail estimation device and driving assist system replaces starting based on the brake operating driving performance (following distance of the tendency in period From tendency) presumption or carry out together with the presumption following presumption：Based on starting the tendency in period not with the brake operating With the parameter of tendency of operation of the driver relative to front truck, the parameter of running environment (gradient of travel etc.) and/or Parameter of vehicle running state (vehicle lateral acceleration etc.) etc., presumption driving performance (vehicle headway tendency).
For example, the parameter of the tendency of operation as the driver, it is considered to there is the acceleration shutoff operation relative to front truck to start The tendency in period etc..The parameter can mainly be used in the presumption study on upward trend and/or super expressway.In this case, calculating The acceleration shutoff operation for going out driver starts the desired value PRE (ACC) in period.Desired value PRE (ACC) can by with it is foregoing The equal arithmetic expression of formula 1 obtain, when the vehicle velocity V s of this car of the formula 1 etc. each parameter being replaced with into acceleration shutoff operation starting Information and calculate.In addition, in this case, under starting each state (early, common, evening) in period using the acceleration shutoff operation Probability density function.Each probability density function is obtained in the same manner as the probability density function shown in foregoing Fig. 5.
In addition, in this case, based on each probability density function and desired value PRE (ACC), reading with being opened by operation The acceleration shutoff operation that the desired value PRE (ACC) that beginning desired value calculating section 1a is calculated meets starts each shape probability of state in period Numerical value a, b, c of density function.Driving performance presumption unit 1b is based on each numerical value a, b, the c, obtains acceleration shutoff operation when starting The ratio (a/a+b+c) of the aggregate value relative to probability density a, b, c during phase early state, accelerate shutoff operation to start period to be The ratio (b/a+b+c) of the aggregate value relative to probability density a, b, c during common state, to accelerate shutoff operation to start period late State when the aggregate value relative to probability density a, b, c ratio (c/a+b+c).
Desired value based on the driving performance for accelerating shutoff operation(ACC-on, PRE (ACC)) uses same with foregoing formula 3 Deng arithmetic expression and obtain.Now, " p1”、“p2”、“p3" respectively become adding when acceleration shutoff operation starts period early state Weight coefficient, acceleration shutoff operation when weight coefficient, acceleration shutoff operation start period for common state start evening in period Weight coefficient during state.As it was previously stated, the desired valueOperation result preferably replace with accelerate shutoff operation start period Each state (early, common, evening) or vehicle headway each state (long, common, short) corresponding 1 dimension scalar (1,2,3 etc.). Because, can using based on accelerate shutoff operation driver driving performance (vehicle headway tendency) presumption result as With based on braking stampede operation driver driving performance (vehicle headway tendency) presumption result same nature result come Handled.
In addition, when driving performance presumption unit 1b can also be driven by itself based on driver and follow front truck and front truck Tendency this parameter of average inter-vehicular time (hereinafter referred to as " with the inter-vehicular time that is averaged at any time ") estimate the driving of driver Characteristic (vehicle headway tendency).Now, for example, when obtaining this and following the traveling to continue for more than preset distance or more than the scheduled time This period in at any time be averaged inter-vehicular time.In this case, it is also preferred that the presumption result is replaced with and vehicle headway The scalar (1,2,3 etc.) of corresponding 1 dimension of each state (long, common, short).The parameter mainly can be used on super expressway Presumption study.
Here, in these illustrations, if in the absence of front truck, can not estimating the driving performance of driver, (vehicle headway inclines To).Therefore, it is configured to also estimate the driving performance (vehicle headway tendency) of driver even if there be no front truck.For example, car There is the vehicle deceleration when brake-treading force is big to become tendency that is big, diminishing in brake-treading force hour vehicle deceleration.Also, system The big driver of dynamic legpower is present carrying out compared with the small driver of brake-treading force, such as in order to keep the following distance with front truck From braking stampede operation when, the tendency shortened with the vehicle headway of front truck.Therefore, driving performance presumption unit 1b can be based on system This parameter of tendency of average traffic deceleration when operating is moved to estimate the driving performance (vehicle headway tendency) of driver.Should In the case of, it is also preferred that the presumption result to be replaced with to the mark of 1 dimension corresponding with each state (long, common, short) of vehicle headway Measure (1,2,3 etc.).The parameter results in the sampled data more than just now illustrated parameter, therefore, it is possible to improve presumption study Execution frequency.
Action of the flow chart based on Fig. 8 to the driving performance estimating device and driving assist system is illustrated.
In the driving performance estimating device and driving assist system, operation starts desired value calculating section 1a and calculates and drive The desired value in multiple operation contents (braking stampede operation and/or acceleration shutoff operation etc.) corresponding operation beginning period of member. Then, driving performance presumption unit 1b presses the operation content, and the operation of the desired value based on relative to operation beginning period starts Each probability density function of each state in period and operation start the finger in the operation beginning period that desired value calculating section 1a is calculated Scale value, obtains ratio of the probability density relative to aggregate value of each probability density function under the desired value that this calculates, each general to this Rate density is weighted relative to the ratio of aggregate value, and driver and the vehicle headway tendency of front truck are entered as driving performance Row presumption.In the driving performance estimating device and driving assist system, in driving performance corresponding with a certain operation content In the case of being deduced pre-determined number, obtain its moving average and be judged as the driving performance of final driver, by this Finally judge to be learnt (renewal) as the presumption learning outcome of driving performance.
Vehicle ECU1 judges whether this car is in during cruise control (step ST1).Ruo Benche is not in the cruise control phase Between, then vehicle ECU1 starts to estimate the driving performance (vehicle headway tendency) of the driver of this car.
First, operation beginning desired value calculating section 1a judges whether this car conforms to a predetermined condition (step ST2).Meet this pre- Fixed condition refer to for example, when driver has carried out acceleration shutoff operation to keep the vehicle headway with front truck, driver be The vehicle headway of holding and front truck and when having carried out braking stampede operation, driver front truck is followed by the driving of itself Although when, in the absence of front truck but when there occurs vehicle deceleration by the braking stampede operation of driver.If it is pre- not meet this Fixed condition, then operation starts the judgement that desired value calculating section 1a performs step ST2 repeatedly.
Operation starts desired value calculating section 1a in the case where accelerating shutoff operation, calculates acceleration shutoff operation and starts period Desired value PRE (ACC), brake stampede operation in the case of, calculate the desired value PRE (BRK) that brake operating starts period (step ST3).Although in addition, when driver follows front truck by the driving of itself or in the absence of front truck but by driving The braking stampede operation for the person of sailing and when there occurs vehicle deceleration, without step ST3, advance to next step ST4.
Next, can driving performance presumption unit 1b judge perform the driving performance (following distance for the presence that make use of front truck From tendency) presumption learn (step ST4).Here, Ruo Benche vehicle velocity V s be preset vehicle speed more than and with the following distance of front truck Below for preset distance, then it is judged to being able to carry out that driving performance (the vehicle headway tendency) of the presence that make use of front truck is pushed away Fixed study.The preset vehicle speed and/or preset distance are for example by the acceleration shutoff operation and/or braking stampede operation of driver No operation for becoming the influence by front truck etc. is determined.For example, preset vehicle speed is set as speed of walking or drive slowly.This be because In the case where the vehicle velocity V s of this car is lower than jogging speed, to have been carried out accelerating the possibility of shutoff operation high.Pre- spacing From be set as hundreds of meters etc. can not be said to be the influence for receiving front truck accelerate shutoff operation and/or braking stampede operation away from From.
Feelings of the driving performance presumption unit 1b in the presumption study for being judged to being able to carry out driving performance (vehicle headway tendency) Under condition, there is the driving performance (vehicle headway tendency) (step ST5) during front truck in presumption.In step ST5, it is in driver The vehicle headway of holding and front truck and in the case of having carried out acceleration shutoff operation, perform driving based on the acceleration shutoff operation The presumption of the driving performance (vehicle headway tendency) for the person of sailing.In addition, entering in driver in order to keep the vehicle headway with front truck Go in the case of braking stampede operation, (vehicle headway inclines the driving performance of driver of the execution based on the braking stampede operation To) presumption.In addition, in the case where driver follows front truck by the driving of itself, based on be averaged at any time workshop when Between tendency, estimate driver driving performance (vehicle headway tendency).
Driving performance presumption unit 1b determines whether to perform braking stampede operation, that is, whether is based on braking stampede operation And estimated (step ST6).
The driving performance presumption unit 1b is performed flat during based on brake operating in the case where performing braking stampede operation The presumption (step ST7) of the driving performance (vehicle headway tendency) of the driver of the tendency of equal vehicle deceleration.On the other hand, exist In the case of being not carried out braking stampede operation, driving performance presumption unit 1b return to step ST1.
In addition, being judged to performing the driving performance of the presence that make use of front truck in step ST4, (vehicle headway inclines To) presumption study in the case of, driving performance presumption unit 1b advances to step ST7, carries out being averaged during based on brake operating The presumption of the driving performance (vehicle headway tendency) of the driver of the tendency of vehicle deceleration, driving when being not present front truck are special The presumption of property (vehicle headway tendency).
In the illustration, step ST1~step ST7 is repeated, until perform pre-determined number (such as 5 times) each Untill at least one presumption in presumption：{ driving performance (vehicle headway tendency) based on the driver for accelerating shutoff operation is pushed away The presumption of the driving performance (vehicle headway tendency) of driver fixed, based on braking stampede operation, based on averagely workshop at any time The presumption of the driving performance (vehicle headway tendency) of the driver of the tendency of time, based on brake operating when average traffic slow down The presumption of the driving performance (vehicle headway tendency) of the driver of the tendency of degree }.Performing after predetermined time, advancing to next Step ST8.
Driving performance presumption unit 1b calculates the moving average (step ST8) of the presumption result of nearest pre-determined number. This, is estimated the result of the moving average as the driving performance (vehicle headway tendency) of final driver.So, Moving average is obtained, obtaining driving performance corresponding with the operation of a series of sequential during driving, (vehicle headway inclines To), even if so that driver also results in respectively to accelerating shutoff operation and/or braking stampede operation etc. to feel inconsistent The high driving performance of precision (vehicle headway tendency).In step ST8, by based on each presumption knot for accelerating shutoff operation etc. Fruit obtains moving average.
In addition, during cruise control (such as during adaptive learning algorithms are performed), for example, being judged as YES pre-determined Predetermined driving performance (vehicle headway tendency) can (step ST9).
So, the driving performance estimating device and driving assist system of this variation can not only be obtained and foregoing implementation The same effect of example, because (vehicle headway inclines based on the driving performance for accelerating the various conditions such as shutoff operation to estimate driver To), so the driving performance (vehicle headway tendency) of the higher driver of precision can also be known.
Here, the result of the test of the generation state of the unnecessary alarm of instruction carriage to applying the driving assist system is entered Row explanation.Figure 9 illustrates the result of the test.
The experiment is to make the laboratory vehicle in predetermined alarm Production conditions downward driving preset distance, and investigation driver feels The generation number of times of unnecessary alarm.As alarm Production conditions, the present embodiment and the presumption of this variation are not carried out only The situation of alarm is practised and produces, in addition to：Will it is long with suitable vehicle headway tendency in the past (i.e. brake operating start morning in period, Shutoff operation is accelerated to start period early) fixed as alarm setting, alarm is produced in advance before benchmark vehicle headway is reached Situation, by vehicle headway tendency, (it is that to start period be general for common, acceleration shutoff operation that i.e. brake operating, which starts period, to be common It is logical) fixed as alarm setting, produce the situation of alarm when reaching benchmark vehicle headway, vehicle headway is inclined to it is short (i.e. Brake operating starts evening in period, accelerates shutoff operation to start evening in period) fixed as alarm setting, reach benchmark following distance From the situation that rear delay produces alarm.Here, for example in the road ring suitable with the A states that the average speed of the easy congestion of road is low Border (operating range：11,625km) and the road environment (operating range suitable with the B states that average speed is higher than A state：3,452km) Tested.
According to the result of the test, in the past, vehicle headway tendency is longer, then the number of times for producing unnecessary alarm is more, no The generation frequency of necessary alarm is higher, therefore is judged as, if sending alarm before benchmark vehicle headway is reached, feels the police The unnecessary bored possibility of report is high.And in the present embodiment and this variation, foregoing presumption study has been carried out, therefore can Know, it is not necessary to the generation number of times of alarm tail off, it is not necessary to alarm generation frequency step-down.The generation of the unnecessary alarm Frequency is by predetermined operating range (A states：11,625km, B states：3,452km) divided by unnecessary alarm generation number of times and obtain.
In addition, in this experiment, vehicle headway tendency length will be set to and police is early produced reaching benchmark vehicle headway premise The situation of report, to be set to vehicle headway tendency common and produce the situation of alarm when reaching benchmark vehicle headway, be set to following distance It is set as predetermined ratio from short and the delay generation alarm after benchmark vehicle headway is reached situation is inclined to, to travelling pre- Determine operating range (A states：11,625km, B states：3,452km) driver feels that the generation number of times of unnecessary alarm is carried out when Investigation.It is set as that estimated rate is (long in this 3 vehicle headway tendencies：Commonly：Early=30%：58%：12%) understood when, with this Embodiment and this variation are compared, it is not necessary to alarm generation number of times it is really many, it is not necessary to alarm generation frequency really It is high.
Figure 10 is one of the result of the test, represent by estimate study and be estimated as vehicle headway tendency length situation, Be estimated as vehicle headway tendency in the case of common, be estimated as vehicle headway tendency it is short in the case of alarm generation frequency Degree.It can be seen from the Figure 10, in the learning outcome for the presumption that each vehicle headway is inclined to, in the absence of big deviation, with substantially Equal generation frequency sends alarm.
In addition, maintaining support control, unstability alarm (unrestrained for foregoing track detachment alarm control, track in drive supporting Not cardiac sleepy alarm drive) in the case of control, white line horizontal level, yaw rate during based on usual driving, steering angle Speed, steering torque and their standard deviation etc., obtain the unstability degree (driving of driver in the usual driving of driver Characteristic), the control intervention period of adjustment track detachment alarm etc..In addition, carrying out bend speed alarm control and/or curved Road speed is slowed down in the case of control, based on turning during and non-turn period usual driving when vehicle fore-aft acceleration, Vehicle lateral acceleration, yaw rate, braking stampede operation starting position and their standard deviation etc., obtain generally driving for driver The tendency (driving performance of driver) of turning performance when sailing, adjusts the control intervention period of bend speed alarm etc.. In addition, in the case where carrying out careless, the sleepy presumption control of driver, the center of gravity of driver during based on usual driving The displacement of position and/or head position and their standard deviation etc., obtain the careless, sleepy tendency (driver of driver Driving performance), presumption driver whether be in careless, sleepy driving condition, arouse the attention of driver and/or enter Row deceleration control etc..In addition, in the case where carrying out driving diagnosis, based on temporary stopped position, (this spacing is temporarily ceased The distance of line), vehicle fore-aft acceleration, vehicle lateral acceleration, speed (residual quantity with the limitation speed of travel) etc. and Their standard deviation etc., judges that the specification of driver drives the tendency (driving performance of driver) of (safe driving).
In addition, the present embodiment and the driving performance estimating device and driving assist system of this variation consider each different The deviation of the technical ability and/or health of people etc., estimates the characteristic of the people, and progress is corresponding with the characteristic to support control.Therefore, The technology of the driving performance estimating device and driving assist system carried out such as can also be used in factory continuous productive process and/ Or job behavior and/or the presumption of kinetic characteristic of the people of repeating motion etc. are carried out, it can also be used in and the presumption result phase The adjustment of the working load and/or exercise load of the people answered.
Label declaration
1 vehicle ECU
1a operations start desired value calculating section
1b driving performance presumption units
1c probability density function calculating sections
1d drive supporting control units
2 vehicle speed detector devices
3 distance detection devices
4 brake apparatus
5 brake operating detection means
6 alarm devices

Claims (8)

1. a kind of driving performance estimating device, it is characterised in that be provided with：
Operation starts desired value calculating section, and it calculates the index in the operation beginning period of the brake operating for the driver for driving vehicle Value；With
Driving performance presumption unit, operation of its desired value based on relative to the operation beginning period starts each of period Each probability density function of state and the operation start the desired value that the operation that desired value calculating section calculates starts period, Ratio of the probability density relative to aggregate value of each probability density function under the desired value that this calculates is obtained, to each probability Density is weighted to estimate the driving performance of driver relative to the ratio of aggregate value.
2. driving performance estimating device according to claim 1, wherein,
Probability density function calculating section is additionally provided with, the probability density function calculating section will start with the acquired operation The relative operation of multiple desired values in period start period channel zapping operated by multiple this realized by driver The state in period is made a distinction, and being somebody's turn to do for the desired value relative to the operation beginning period is calculated respectively by each channel zapping Operate the probability density function of each state in beginning period.
3. a kind of driving performance estimating device, it is characterised in that be provided with：
Operation starts desired value calculating section, and it calculates the operation beginning period of the acceleration shutoff operation for the driver for driving vehicle Desired value；With
Driving performance presumption unit, operation of its desired value based on relative to the operation beginning period starts each of period Each probability density function of state and the operation start the desired value that the operation that desired value calculating section calculates starts period, Ratio of the probability density relative to aggregate value of each probability density function under the desired value that this calculates is obtained, to each probability Density is weighted relative to the ratio of aggregate value, and presumption driver's is used as driving performance with the vehicle headway of front truck tendency.
4. a kind of driving performance estimating device, it is characterised in that be provided with：
Operation starts desired value calculating section, and it calculates the brake operating for the driver for driving vehicle and accelerates the behaviour of shutoff operation Make the desired value in beginning period；With
Driving performance presumption unit, it presses each operation of the two operations of the brake operating and the acceleration shutoff operation, The operation of desired value based on relative to the operation beginning period starts each probability density function of each state in period The operation calculated with the operation beginning desired value calculating section starts the desired value in period, obtains under the desired value that this is calculated Each probability density function ratio of the probability density relative to aggregate value, the ratio to each probability density relative to aggregate value It is weighted, presumption driver's is used as driving performance with the vehicle headway of front truck tendency.
5. a kind of driving assist system, it is characterised in that be provided with：
Operation starts desired value calculating section, and it calculates the index in the operation beginning period of the brake operating for the driver for driving vehicle Value；
Driving performance presumption unit, operation of its desired value based on relative to the operation beginning period starts each of period Each probability density function of state and the operation start the desired value that the operation that desired value calculating section calculates starts period, Ratio of the probability density relative to aggregate value of each probability density function under the desired value that this calculates is obtained, to each probability Density is weighted to estimate the driving performance of driver relative to the ratio of aggregate value；And
Drive supporting control unit, it carries out drive supporting corresponding with the driving performance deduced.
6. driving assist system according to claim 5, wherein,
Probability density function calculating section is additionally provided with, the probability density function calculating section will start with the acquired operation The relative operation of multiple desired values in period start period channel zapping operated by multiple this realized by driver The state in period is made a distinction, and being somebody's turn to do for the desired value relative to the operation beginning period is calculated respectively by each channel zapping Operate the probability density function of each state in beginning period.
7. a kind of driving assist system, it is characterised in that be provided with：
Operation starts desired value calculating section, and it calculates the operation beginning period of the acceleration shutoff operation for the driver for driving vehicle Desired value；
Driving performance presumption unit, operation of its desired value based on relative to the operation beginning period starts each of period Each probability density function of state and the operation start the desired value that the operation that desired value calculating section calculates starts period, Ratio of the probability density relative to aggregate value of each probability density function under the desired value that this calculates is obtained, to each probability Density is weighted relative to the ratio of aggregate value, and presumption driver's is used as driving performance with the vehicle headway of front truck tendency； And
Drive supporting control unit, it carries out drive supporting corresponding with the driving performance deduced.
8. a kind of driving assist system, it is characterised in that be provided with：
Operation starts desired value calculating section, and it calculates the brake operating for the driver for driving vehicle and accelerates the behaviour of shutoff operation Make the desired value in beginning period；
Driving performance presumption unit, it presses each operation of the two operations of the brake operating and the acceleration shutoff operation, The operation of desired value based on relative to the operation beginning period starts each probability density function of each state in period The operation calculated with the operation beginning desired value calculating section starts the desired value in period, obtains under the desired value that this is calculated Each probability density function ratio of the probability density relative to aggregate value, the ratio to each probability density relative to aggregate value It is weighted, presumption driver's is used as driving performance with the vehicle headway of front truck tendency；And
Drive supporting control unit, it carries out drive supporting corresponding with the driving performance deduced.
CN201280073692.1A 2012-06-05 2012-06-05 Driving performance estimating device and driving assist system Active CN104334431B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2012/064470 WO2013183117A1 (en) 2012-06-05 2012-06-05 Driving characteristics estimation device and driver assistance system

Publications (2)

Publication Number Publication Date
CN104334431A CN104334431A (en) 2015-02-04
CN104334431B true CN104334431B (en) 2017-09-29

Family

ID=49711536

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201280073692.1A Active CN104334431B (en) 2012-06-05 2012-06-05 Driving performance estimating device and driving assist system

Country Status (5)

Country Link
US (1) US10518782B2 (en)
JP (1) JP5854133B2 (en)
CN (1) CN104334431B (en)
DE (1) DE112012006465B4 (en)
WO (1) WO2013183117A1 (en)

Families Citing this family (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012112141A1 (en) * 2012-12-12 2014-06-12 Scania Cv Ab Method and device for regulating a longitudinal acceleration of a vehicle
US10115164B1 (en) * 2013-10-04 2018-10-30 State Farm Mutual Automobile Insurance Company Systems and methods to quantify and differentiate individual insurance risk based on actual driving behavior and driving environment
JP2015219830A (en) * 2014-05-20 2015-12-07 トヨタ自動車株式会社 Drive assist system
KR101601104B1 (en) * 2014-09-22 2016-03-08 현대자동차주식회사 Appratus and method of road slope estimating by using gravity sensor
JP2016081359A (en) * 2014-10-20 2016-05-16 クラリオン株式会社 Information presentation device
JP2016224615A (en) * 2015-05-28 2016-12-28 株式会社デンソー Alarm control device
JP2017043268A (en) * 2015-08-28 2017-03-02 修一 田山 Vehicle user information management system
JP6565615B2 (en) * 2015-11-06 2019-08-28 株式会社デンソー Vehicle control device
DE102016216745A1 (en) * 2015-12-18 2017-06-22 Ford Global Technologies, Llc Method for operating a motor vehicle
JP6477529B2 (en) * 2016-02-02 2019-03-06 株式会社デンソー Driving support device
CN105487075B (en) * 2016-02-17 2018-07-17 宁夏中科天际防雷股份有限公司 A kind of intelligent anticollision warning device with identification function
JP6436116B2 (en) * 2016-03-08 2018-12-12 トヨタ自動車株式会社 Driving assistance device
KR20180051273A (en) * 2016-11-08 2018-05-16 현대자동차주식회사 Method for controlling driving of vehicle using driving information of vehicle and vehicle using the same
JP6772775B2 (en) * 2016-11-18 2020-10-21 トヨタ自動車株式会社 Driving support device and driving support method
KR102382185B1 (en) * 2016-12-02 2022-04-04 팅크웨어(주) Server, vehicle terminal and method for providing emergency notification
KR20180072139A (en) * 2016-12-21 2018-06-29 현대자동차주식회사 Vehicle and method for controlling thereof
JP6631585B2 (en) * 2017-04-21 2020-01-15 株式会社デンソー Presentation control device, automatic operation control device, presentation control method, and automatic operation control method
WO2019058460A1 (en) * 2017-09-20 2019-03-28 日産自動車株式会社 Travel assistance method and travel assistance device
JP6981235B2 (en) * 2017-12-22 2021-12-15 いすゞ自動車株式会社 Steering control device and steering control method
WO2020000191A1 (en) * 2018-06-26 2020-01-02 Psa Automobiles Sa Method for driver identification based on car following modeling
KR102492637B1 (en) * 2018-10-08 2023-01-30 주식회사 에이치엘클레무브 Method for analyzing driving propensity, apparatus thereof and vehicle control system
DE102018126832A1 (en) * 2018-10-26 2020-04-30 Bayerische Motoren Werke Aktiengesellschaft Method and control unit for lateral guidance of a vehicle when following a journey
CN111483460B (en) * 2019-01-09 2021-06-01 广州汽车集团股份有限公司 Vehicle driving assistance control method, device, equipment and storage medium
JP6726778B1 (en) * 2019-02-06 2020-07-22 アビームコンサルティング株式会社 Operation authority management server and operation authority management program
JP7470510B2 (en) * 2019-12-02 2024-04-18 ダイムラー トラック エージー Vehicle control device, vehicle control method, and vehicle control program
CN111696349B (en) * 2020-06-10 2022-02-11 长威信息科技发展股份有限公司 Fatigue driving distinguishing method based on real-time traffic condition of road section
CN114030476B (en) * 2021-10-27 2023-06-20 东风汽车集团股份有限公司 Vehicle acceleration control method and related equipment

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6044321A (en) * 1996-06-07 2000-03-28 Hitachi, Ltd. Intelligent cruise control system for moving body
CN101778741A (en) * 2007-07-24 2010-07-14 日产自动车株式会社 Drive assistance system and method for vehicle and vehicle equipped with the system
JP2010198120A (en) * 2009-02-23 2010-09-09 Nissan Motor Co Ltd Driving condition determination device and method

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59105587A (en) 1982-12-09 1984-06-18 Fujitsu Ten Ltd Apparatus for alarming vehicle collision
JPH07101272A (en) * 1993-08-10 1995-04-18 Mitsubishi Motors Corp Vehicle driving operating state estimating method and vehicle driving characteristic control method
JP3357159B2 (en) * 1993-08-10 2002-12-16 三菱自動車工業株式会社 Vehicle driving operation state estimating method and vehicle driving characteristic control method
US6445287B1 (en) * 2000-02-28 2002-09-03 Donnelly Corporation Tire inflation assistance monitoring system
US7389178B2 (en) * 2003-12-11 2008-06-17 Greenroad Driving Technologies Ltd. System and method for vehicle driver behavior analysis and evaluation
US20060011399A1 (en) * 2004-07-15 2006-01-19 International Business Machines Corporation System and method for controlling vehicle operation based on a user's facial expressions and physical state
JP4812343B2 (en) * 2005-06-30 2011-11-09 トヨタ自動車株式会社 Driving tendency estimation device and driving support device
JP4297132B2 (en) * 2006-05-12 2009-07-15 トヨタ自動車株式会社 Vehicle alarm device
US20100209887A1 (en) * 2009-02-18 2010-08-19 Gm Global Technology Operation, Inc. Vehicle stability enhancement control adaptation to driving skill based on vehicle backup maneuver
JP5195672B2 (en) 2009-05-29 2013-05-08 トヨタ自動車株式会社 Vehicle control device, vehicle, and vehicle control method
JP5644206B2 (en) 2010-06-23 2014-12-24 トヨタ自動車株式会社 Vehicle support device
DE102011082480A1 (en) 2011-09-12 2013-03-14 Robert Bosch Gmbh Method for determining steering torque for automatic intervention in transverse guide of vehicle, involves performing determination of level of steering torque as function of individual driving behavior
JP4978747B2 (en) * 2011-11-16 2012-07-18 日産自動車株式会社 Vehicle driving support device and vehicle driving support method

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6044321A (en) * 1996-06-07 2000-03-28 Hitachi, Ltd. Intelligent cruise control system for moving body
CN101778741A (en) * 2007-07-24 2010-07-14 日产自动车株式会社 Drive assistance system and method for vehicle and vehicle equipped with the system
JP2010198120A (en) * 2009-02-23 2010-09-09 Nissan Motor Co Ltd Driving condition determination device and method

Also Published As

Publication number Publication date
CN104334431A (en) 2015-02-04
JP5854133B2 (en) 2016-02-09
DE112012006465B4 (en) 2021-08-05
US10518782B2 (en) 2019-12-31
JPWO2013183117A1 (en) 2016-01-21
US20150183441A1 (en) 2015-07-02
DE112012006465T5 (en) 2015-03-05
WO2013183117A1 (en) 2013-12-12

Similar Documents

Publication Publication Date Title
CN104334431B (en) Driving performance estimating device and driving assist system
CN108248609B (en) Hybrid vehicle and method of predicting driving pattern in hybrid vehicle
US20200031371A1 (en) Driver Behavior Learning and Driving Coach Strategy Using Artificial Intelligence
CN107368069B (en) Automatic driving control strategy generation method and device based on Internet of vehicles
CN102834852B (en) Vehicle driving assistance device
DE102014109936B4 (en) Interactive automated driving system
EP2766231B1 (en) System and method for optimal deceleration of a vehicle using regenerative braking
US9437110B2 (en) Drive assisting apparatus
CN106515733B (en) The control device of vehicle
CN105579320A (en) Method and device for optimizing driver assistance systems
CN109866770A (en) A kind of adaptive cruise control method, apparatus, system and automobile
CN108394411A (en) Vehicle follows start control device
US9751516B2 (en) Informational based engine stop/start sensitivity control for micro-HEV
JP2015219830A (en) Drive assist system
CN107054366B (en) The control device of vehicle
CN104149786A (en) Vehicle control apparatus, vehicle, and vehicle control method
CN103918018A (en) Driving assistance device
CN103153677A (en) Vehicle control system installed in a vehicle or a group of vehicules
CN103079917A (en) Vehicle control device
CN106965810B (en) The control device of vehicle
CN109204297B (en) Vehicle speed control method and device
JP2010052652A (en) Control device for hybrid car, and energy calculating device for vehicle
CN108275150A (en) Control device for improving the fuel efficiency in CACC systems and method
CN111768616A (en) Vehicle fleet consistency control method based on vehicle-road cooperation in mixed traffic scene
CN104417558A (en) Deceleration setting system, deceleration setting method, and deceleration setting program

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant